Extrinsic parameter calibration of a vision-aided inertial navigation system

This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided...

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Hauptverfasser:	Wu, Kejian J, Roumeliotis, Stergios I, Kottas, Dimitrios G
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRIC DIGITAL DATA PROCESSING ELECTRICITY GYROSCOPIC INSTRUMENTS HAND TOOLS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION PORTABLE POWER-DRIVEN TOOLS SURVEYING TESTING TRANSPORTING
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creator	Wu, Kejian J Roumeliotis, Stergios I Kottas, Dimitrios G
description	This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS concurrently with computation of a roll and pitch of the calibration target, wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.
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A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS concurrently with computation of a roll and pitch of the calibration target, wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.</description><language>eng</language><subject>CALCULATING ; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; COMPUTING ; COUNTING ; ELECTRIC COMMUNICATION TECHNIQUE ; ELECTRIC DIGITAL DATA PROCESSING ; ELECTRICITY ; GYROSCOPIC INSTRUMENTS ; HAND TOOLS ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; MANIPULATORS ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PERFORMING OPERATIONS ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; PICTORIAL COMMUNICATION, e.g. TELEVISION ; PORTABLE POWER-DRIVEN TOOLS ; SURVEYING ; TESTING ; TRANSPORTING</subject><creationdate>2019</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190409&DB=EPODOC&CC=US&NR=10254118B2$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25563,76418</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190409&DB=EPODOC&CC=US&NR=10254118B2$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Wu, Kejian J</creatorcontrib><creatorcontrib>Roumeliotis, Stergios I</creatorcontrib><creatorcontrib>Kottas, Dimitrios G</creatorcontrib><title>Extrinsic parameter calibration of a vision-aided inertial navigation system</title><description>This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS concurrently with computation of a roll and pitch of the calibration target, wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.</description><subject>CALCULATING</subject><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>COMPUTING</subject><subject>COUNTING</subject><subject>ELECTRIC COMMUNICATION TECHNIQUE</subject><subject>ELECTRIC DIGITAL DATA PROCESSING</subject><subject>ELECTRICITY</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>HAND TOOLS</subject><subject>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</subject><subject>MANIPULATORS</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PERFORMING OPERATIONS</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>PICTORIAL COMMUNICATION, e.g. TELEVISION</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>SURVEYING</subject><subject>TESTING</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2019</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZPBxrSgpyswrzkxWKEgsSsxNLUktUkhOzMlMKkosyczPU8hPU0hUKMssBrJ1EzNTUlMUMvNSi0oyE3MU8hLLMtMhqoori0tSc3kYWNMSc4pTeaE0N4Oim2uIs4duakF-fGpxQWJyal5qSXxosKGBkamJoaGFk5ExMWoA3_82dA</recordid><startdate>20190409</startdate><enddate>20190409</enddate><creator>Wu, Kejian J</creator><creator>Roumeliotis, Stergios I</creator><creator>Kottas, Dimitrios G</creator><scope>EVB</scope></search><sort><creationdate>20190409</creationdate><title>Extrinsic parameter calibration of a vision-aided inertial navigation system</title><author>Wu, Kejian J ; Roumeliotis, Stergios I ; Kottas, Dimitrios G</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US10254118B23</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2019</creationdate><topic>CALCULATING</topic><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>COMPUTING</topic><topic>COUNTING</topic><topic>ELECTRIC COMMUNICATION TECHNIQUE</topic><topic>ELECTRIC DIGITAL DATA PROCESSING</topic><topic>ELECTRICITY</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>HAND TOOLS</topic><topic>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</topic><topic>MANIPULATORS</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PERFORMING OPERATIONS</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>PICTORIAL COMMUNICATION, e.g. TELEVISION</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>SURVEYING</topic><topic>TESTING</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>Wu, Kejian J</creatorcontrib><creatorcontrib>Roumeliotis, Stergios I</creatorcontrib><creatorcontrib>Kottas, Dimitrios G</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Wu, Kejian J</au><au>Roumeliotis, Stergios I</au><au>Kottas, Dimitrios G</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Extrinsic parameter calibration of a vision-aided inertial navigation system</title><date>2019-04-09</date><risdate>2019</risdate><abstract>This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS concurrently with computation of a roll and pitch of the calibration target, wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.</abstract><oa>free_for_read</oa></addata></record>
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subjects	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRIC DIGITAL DATA PROCESSING ELECTRICITY GYROSCOPIC INSTRUMENTS HAND TOOLS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION PORTABLE POWER-DRIVEN TOOLS SURVEYING TESTING TRANSPORTING
title	Extrinsic parameter calibration of a vision-aided inertial navigation system
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